An in-vehicle system for identifying exit-only lanes and shared exit lanes on a roadway having a first camera for obtaining image data regarding lane markings on the roadway, a second camera for obtaining image data regarding exit signs, a lane marking detection module for detecting lane markings on the roadway, an exit sign detection module for detecting exit signs, and an exit sign analyzer for detecting arrows on the detected exit signs. The in-vehicle system categorizes detected lane markings as one of standard frequency dashed lane markings, high frequency dashed lane markings, and solid lane markings, and identifies an exit-only lane and a shared exit lane in response to the categorizations of the detected lane markings and characteristics of the detected arrows.